#pragma once
const float fuzzyPIDDeltaKpX[] = {
	-50.000000, -42.857143, -35.714286, -28.571429, -21.428571, -14.285714, -7.142857, 0.000000, 7.142857, 14.285714, 21.428571, 28.571429, 35.714286, 42.857143, 50.000000
};
const float fuzzyPIDDeltaKpY[] = {
	-2.000000, -1.714286, -1.428571, -1.142857, -0.857143, -0.571429, -0.285714, 0.000000, 0.285714, 0.571429, 0.857143, 1.142857, 1.428571, 1.714286, 2.000000
};
const float fuzzyPIDDeltaKpZ[] = {
	0.050000, 0.046500, 0.046000, 0.046000, 0.032000, 0.032500, 0.031500, 0.033000, 0.031500, 0.017000, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000,
	0.046500, 0.046500, 0.046000, 0.046000, 0.032000, 0.032500, 0.031500, 0.032500, 0.031500, 0.016500, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000,
	0.046000, 0.046000, 0.046000, 0.046000, 0.032000, 0.032000, 0.031500, 0.032000, 0.031500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000,
	0.046000, 0.046000, 0.046000, 0.046000, 0.032000, 0.032000, 0.031500, 0.032000, 0.031500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000,
	0.032000, 0.032000, 0.032000, 0.032000, 0.032000, 0.032000, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, -0.016500, -0.016500, -0.032000, -0.032000,
	0.032500, 0.032500, 0.032000, 0.032000, 0.032000, 0.032500, 0.016500, 0.017000, 0.016500, 0.000000, 0.000000, -0.016500, -0.016500, -0.032500, -0.032500,
	0.031500, 0.031500, 0.016500, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, -0.016500, -0.016500, -0.031500, -0.031500, -0.031500, -0.031500,
	0.033000, 0.032500, 0.016500, 0.016500, 0.016500, 0.017000, 0.000000, 0.000000, 0.000000, -0.017000, -0.016500, -0.032000, -0.032000, -0.032500, -0.033000,
	0.031500, 0.031500, 0.016500, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, -0.016500, -0.016500, -0.031500, -0.031500, -0.031500, -0.031500,
	0.017000, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, -0.016500, -0.017000, -0.016500, -0.017000, -0.016500, -0.032000, -0.032000, -0.032500, -0.032500,
	0.016500, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.032000, -0.032000, -0.032000, -0.032000,
	0.000000, 0.000000, 0.000000, 0.000000, -0.016500, -0.016500, -0.031500, -0.032000, -0.031500, -0.032000, -0.032000, -0.032000, -0.032000, -0.046000, -0.046000,
	0.000000, 0.000000, 0.000000, 0.000000, -0.016500, -0.016500, -0.031500, -0.032000, -0.031500, -0.032000, -0.032000, -0.032000, -0.032000, -0.046000, -0.046000,
	0.000000, 0.000000, -0.016500, -0.016500, -0.016500, -0.016500, -0.031500, -0.032500, -0.031500, -0.032500, -0.032000, -0.046000, -0.046000, -0.046500, -0.046500,
	0.000000, 0.000000, -0.016500, -0.016500, -0.016500, -0.017000, -0.031500, -0.033000, -0.031500, -0.032500, -0.032000, -0.046000, -0.046000, -0.046500, -0.050000
};
const float fuzzyPIDDeltaKiX[] = {
	-50.000000, -42.857143, -35.714286, -28.571429, -21.428571, -14.285714, -7.142857, 0.000000, 7.142857, 14.285714, 21.428571, 28.571429, 35.714286, 42.857143, 50.000000
};
const float fuzzyPIDDeltaKiY[] = {
	-2.000000, -1.714286, -1.428571, -1.142857, -0.857143, -0.571429, -0.285714, 0.000000, 0.285714, 0.571429, 0.857143, 1.142857, 1.428571, 1.714286, 2.000000
};
const float fuzzyPIDDeltaKiZ[] = {
	-0.050000, -0.046500, -0.046000, -0.046000, -0.046000, -0.047000, -0.031500, -0.033000, -0.031500, -0.032500, -0.032000, -0.000000, -0.000000, 0.000000, 0.000000,
	-0.046500, -0.046500, -0.046000, -0.046000, -0.046000, -0.046500, -0.031500, -0.032500, -0.031500, -0.032500, -0.032000, -0.000000, -0.000000, 0.000000, 0.000000,
	-0.046000, -0.046000, -0.046000, -0.046000, -0.032000, -0.032000, -0.031500, -0.032000, -0.031500, -0.016500, -0.016500, -0.000000, -0.000000, -0.000000, -0.000000,
	-0.046000, -0.046000, -0.046000, -0.046000, -0.032000, -0.032000, -0.031500, -0.032000, -0.031500, -0.016500, -0.016500, -0.000000, -0.000000, -0.000000, -0.000000,
	-0.032000, -0.032000, -0.032000, -0.032000, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.000000, -0.000000, 0.016500, 0.016500, 0.016500, 0.016500,
	-0.032500, -0.032500, -0.032000, -0.032000, -0.016500, -0.017000, -0.016500, -0.017000, -0.016500, 0.000000, -0.000000, 0.016500, 0.016500, 0.016500, 0.017000,
	-0.031500, -0.031500, -0.016500, -0.016500, -0.016500, -0.016500, -0.000000, -0.000000, -0.000000, 0.016500, 0.016500, 0.016500, 0.016500, 0.031500, 0.031500,
	-0.033000, -0.032500, -0.016500, -0.016500, -0.016500, -0.017000, -0.000000, 0.000000, -0.000000, 0.017000, 0.016500, 0.016500, 0.016500, 0.032500, 0.033000,
	-0.031500, -0.031500, -0.016500, -0.016500, -0.016500, -0.016500, -0.000000, -0.000000, -0.000000, 0.016500, 0.016500, 0.016500, 0.016500, 0.031500, 0.031500,
	-0.017000, -0.016500, -0.016500, -0.016500, -0.000000, 0.000000, 0.016500, 0.017000, 0.016500, 0.017000, 0.016500, 0.032000, 0.032000, 0.032500, 0.032500,
	-0.016500, -0.016500, -0.016500, -0.016500, -0.000000, -0.000000, 0.016500, 0.016500, 0.016500, 0.016500, 0.016500, 0.032000, 0.032000, 0.032000, 0.032000,
	-0.000000, -0.000000, -0.000000, -0.000000, 0.016500, 0.016500, 0.031500, 0.032000, 0.031500, 0.032000, 0.032000, 0.046000, 0.046000, 0.046000, 0.046000,
	-0.000000, -0.000000, -0.000000, -0.000000, 0.016500, 0.016500, 0.031500, 0.032000, 0.031500, 0.032000, 0.032000, 0.046000, 0.046000, 0.046000, 0.046000,
	0.000000, 0.000000, -0.000000, -0.000000, 0.016500, 0.016500, 0.031500, 0.032500, 0.031500, 0.046500, 0.046000, 0.046000, 0.046000, 0.046500, 0.046500,
	0.000000, 0.000000, -0.000000, -0.000000, 0.016500, 0.017000, 0.031500, 0.033000, 0.031500, 0.047000, 0.046000, 0.046000, 0.046000, 0.046500, 0.050000
};
const float fuzzyPIDDeltaKdX[] = {
	-50.000000, -42.857143, -35.714286, -28.571429, -21.428571, -14.285714, -7.142857, 0.000000, 7.142857, 14.285714, 21.428571, 28.571429, 35.714286, 42.857143, 50.000000
};
const float fuzzyPIDDeltaKdY[] = {
	-2.000000, -1.714286, -1.428571, -1.142857, -0.857143, -0.571429, -0.285714, 0.000000, 0.285714, 0.571429, 0.857143, 1.142857, 1.428571, 1.714286, 2.000000
};
const float fuzzyPIDDeltaKdZ[] = {
	0.017000, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.046000, 0.046000, 0.046500, 0.050000,
	0.016500, 0.016500, 0.016500, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.046000, 0.046000, 0.046500, 0.046500,
	-0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.032000, 0.032000,
	-0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.032000, 0.032000,
	-0.046000, -0.046000, -0.046000, -0.046000, -0.032000, -0.032000, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.032000, 0.032000,
	-0.047000, -0.046500, -0.046000, -0.046000, -0.032000, -0.032500, -0.016500, -0.017000, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.032500, 0.032500,
	-0.045000, -0.045000, -0.031500, -0.031500, -0.031500, -0.031500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.031500, 0.031500,
	-0.050000, -0.046500, -0.032000, -0.032000, -0.032000, -0.032500, -0.016500, -0.017000, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.032500, 0.033000,
	-0.045000, -0.045000, -0.031500, -0.031500, -0.031500, -0.031500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.031500, 0.031500,
	-0.047000, -0.046500, -0.032000, -0.032000, -0.016500, -0.017000, -0.016500, -0.017000, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.016500, 0.017000,
	-0.046000, -0.046000, -0.032000, -0.032000, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.016500, 0.016500,
	-0.032000, -0.032000, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.016500, 0.016500,
	-0.032000, -0.032000, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, -0.016500, 0.000000, 0.000000, 0.016500, 0.016500, 0.016500, 0.016500,
	0.016500, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.046000, 0.046000, 0.046500, 0.046500,
	0.017000, 0.016500, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.046000, 0.046000, 0.046500, 0.050000
};